From 9600299d1815cb14a3f49c72c4266adc1f471bcb Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Thu, 31 Mar 2016 20:40:03 +0200
Subject: [PATCH] motor_ctrl: pid tuning

---
 avr/motor_ctrl/main.c          |  30 +-
 avr/motor_ctrl/main.hex        | 820 ++++++++++++++++-----------------
 data/motor_ctrl_pid_values.ods | Bin 0 -> 21591 bytes
 scripts/get_velocity.py        |  16 +
 4 files changed, 438 insertions(+), 428 deletions(-)
 create mode 100644 data/motor_ctrl_pid_values.ods
 create mode 100755 scripts/get_velocity.py

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 28d254e..048fab0 100644
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -101,9 +101,9 @@
 #define TWI_RESET	TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
 #define TWI_NAK		TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
 
-#define KP 0.009
-#define KI 0.051429
-#define KD 0.000378
+#define KP 0.045
+#define KI 2.298
+#define KD 0.0004
 #define PID_T 0.01
 // wheel diameter=12cm, encoder=48cpr, gear ratio=1:34, real wheel diameter: 0.12454m
 #define STEP_PER_M_AVG 4171.4
@@ -674,16 +674,16 @@ static void update_motor(void) {
 	error_state = ~((PIND & 0x40)>>3 | (PINB & 0x07)) & 0xf;
 
 	// if error and running: stop
-	if (bit_is_set(error_state, 0) && m1_old != 0) motor1 = 0;
-	if (bit_is_set(error_state, 1) && m2_old != 0) motor2 = 0;
-	if (bit_is_set(error_state, 2) && m3_old != 0) motor3 = 0;
-	if (bit_is_set(error_state, 3) && m4_old != 0) motor4 = 0;
+	if (motor1_mode == MOTOR_PID && bit_is_set(error_state, 0) && m1_old != 0) motor1 = 0;
+	if (motor2_mode == MOTOR_PID && bit_is_set(error_state, 1) && m2_old != 0) motor2 = 0;
+	if (motor3_mode == MOTOR_PID && bit_is_set(error_state, 2) && m3_old != 0) motor3 = 0;
+	if (motor4_mode == MOTOR_PID && bit_is_set(error_state, 3) && m4_old != 0) motor4 = 0;
 
 	// if we start motor in error state: start with full power
-	if (bit_is_set(error_state, 0) && m1_old == 0 && motor1 != 0) motor1 = 255;
-	if (bit_is_set(error_state, 1) && m2_old == 0 && motor2 != 0) motor2 = 255;
-	if (bit_is_set(error_state, 2) && m3_old == 0 && motor3 != 0) motor3 = 255;
-	if (bit_is_set(error_state, 3) && m4_old == 0 && motor4 != 0) motor4 = 255;
+	if (motor1_mode == MOTOR_PID && bit_is_set(error_state, 0) && m1_old == 0 && motor1 != 0) motor1 = 255;
+	if (motor2_mode == MOTOR_PID && bit_is_set(error_state, 1) && m2_old == 0 && motor2 != 0) motor2 = 255;
+	if (motor3_mode == MOTOR_PID && bit_is_set(error_state, 2) && m3_old == 0 && motor3 != 0) motor3 = 255;
+	if (motor4_mode == MOTOR_PID && bit_is_set(error_state, 3) && m4_old == 0 && motor4 != 0) motor4 = 255;
 
 	if (m1_old != motor1) { // update only when changed
 		if (motor1 == 0) {
@@ -844,7 +844,7 @@ static void update_pid(void) {
 		} else {
 			int16_t e = speed1_wish - speed1;
 			esum1+=e;
-			motor1 += KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
+			motor1 = KP*e + KI*PID_T*esum1 + KD/PID_T*(e - eold1);
 			eold1 = e;
 
                         if (motor1 > 255) motor1 = 255;
@@ -859,7 +859,7 @@ static void update_pid(void) {
 		} else {
 			int16_t e = speed2_wish - speed2;
 			esum2+=e;
-			motor2 += KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
+			motor2 = KP*e + KI*PID_T*esum2 + KD/PID_T*(e - eold2);
 			eold2 = e;
 
                         if (motor2 > 255) motor2 = 255;
@@ -874,7 +874,7 @@ static void update_pid(void) {
 		} else {
 			int16_t e = speed3_wish - speed3;
 			esum3+=e;
-			motor3 += KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
+			motor3 = KP*e + KI*PID_T*esum3 + KD/PID_T*(e - eold3);
 			eold3 = e;
 
                         if (motor3 > 255) motor3 = 255;
@@ -889,7 +889,7 @@ static void update_pid(void) {
 		} else {
 			int16_t e = speed4_wish - speed4;
 			esum4+=e;
-			motor4 += KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
+			motor4 = KP*e + KI*PID_T*esum4 + KD/PID_T*(e - eold4);
 			eold4 = e;
 
                         if (motor4 > 255) motor4 = 255;
diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex
index 804c0a9..72a9ae8 100644
--- a/avr/motor_ctrl/main.hex
+++ b/avr/motor_ctrl/main.hex
@@ -7,10 +7,10 @@
 :100060000C50B9918688083CA6AAAA2ABE000000B6
 :10007000803F45464765666700202B2D2E30313284
 :100080003334353637383968000011241FBECFE5C8
-:10009000D8E0DEBFCDBF10E0A0E6B0E0E4EBF8E2D0
+:10009000D8E0DEBFCDBF10E0A0E6B0E0E4E5F8E2D6
 :1000A00002C005900D92A837B107D9F721E0A8E763
 :1000B000B0E001C01D92A836B207E1F70E94290600
-:1000C0000C9458140C9400001F920F920FB60F92CC
+:1000C0000C9428140C9400001F920F920FB60F92FC
 :1000D00011242F933F934F935F936F937F938F934D
 :1000E0009F93AF93BF93EF93FF9381B1887F803845
 :1000F00081F040F4803609F0B5C385EC86BF1092DC
@@ -54,7 +54,7 @@
 :10035000A2009091A300A091A400B091A500BA2F93
 :10036000A92F982F8827BC01CD01622B6093A20092
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-:1003800042E855E40E94B6100E948A0F7093CF0095
+:1003800042E855E40E9486100E945A0F7093CF00F5
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@@ -172,7 +172,7 @@
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-:100AE000D1F760E079E08DE390E00E947411DA01C3
+:100AE000D1F760E079E08DE390E00E944411DA01F3
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@@ -182,7 +182,7 @@
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-:100B80000C94F711CF93DF93FC01E253FF4FA08148
+:100B80000C94C711CF93DF93FC01E253FF4FA08178
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@@ -201,40 +201,40 @@
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+:100EA0005A0F7093CB006093CA00F1E0F093D70023
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diff --git a/data/motor_ctrl_pid_values.ods b/data/motor_ctrl_pid_values.ods
new file mode 100644
index 0000000000000000000000000000000000000000..a02ecc922fc060b8ab465648938819873c192237
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diff --git a/scripts/get_velocity.py b/scripts/get_velocity.py
new file mode 100755
index 0000000..4f8a77e
--- /dev/null
+++ b/scripts/get_velocity.py
@@ -0,0 +1,16 @@
+#!/usr/bin/env python
+# -*- coding: iso-8859-15 -*-
+#
+# rostopic echo /odom/twist/twist/linear/x > /tmp/velocity.txt
+
+import sys
+import numpy as np
+
+f = open(sys.argv[1])
+l = []
+for line in f:
+	if "---" in line:
+		continue
+	l.append(float(line))
+
+print "avg=%.2f, var=%f" % (sum(l)/len(l), np.var(l))
-- 
2.39.5